#include <btMultiBodyJointMotor.h>
Inheritance diagram for btMultiBodyJointMotor:
Collaboration diagram for btMultiBodyJointMotor:
Public Member Functions | |
| btMultiBodyJointMotor (btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) | |
| This file was written by Erwin Coumans. | |
| virtual | ~btMultiBodyJointMotor () |
| virtual int | getIslandIdA () const |
| virtual int | getIslandIdB () const |
| virtual void | createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal) |
 Public Member Functions inherited from btMultiBodyConstraint | |
| btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral) | |
| virtual | ~btMultiBodyConstraint () |
| int | getNumRows () const |
| btMultiBody * | getMultiBodyA () |
| btMultiBody * | getMultiBodyB () |
| btScalar | getPosition (int row) const |
| void | setPosition (int row, btScalar pos) |
| bool | isUnilateral () const |
| btScalar * | jacobianA (int row) |
| const btScalar * | jacobianA (int row) const |
| btScalar * | jacobianB (int row) |
| const btScalar * | jacobianB (int row) const |
| btScalar | getMaxAppliedImpulse () const |
| void | setMaxAppliedImpulse (btScalar maxImp) |
Protected Attributes | |
| btScalar | m_desiredVelocity |
| Protected Attributes inherited from btMultiBodyConstraint | |
| btMultiBody * | m_bodyA |
| btMultiBody * | m_bodyB |
| int | m_linkA |
| int | m_linkB |
| int | m_num_rows |
| int | m_jac_size_A |
| int | m_jac_size_both |
| int | m_pos_offset |
| bool | m_isUnilateral |
| btScalar | m_maxAppliedImpulse |
| btAlignedObjectArray< btScalar > | m_data |
Additional Inherited Members | |
| Protected Member Functions inherited from btMultiBodyConstraint | |
| void | applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof) |
| void | fillMultiBodyConstraintMixed (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, const btVector3 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar position, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
| btScalar | fillConstraintRowMultiBodyMultiBody (btMultiBodySolverConstraint &constraintRow, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity, btScalar lowerLimit, btScalar upperLimit) |
Detailed Description
Definition at line 24 of file btMultiBodyJointMotor.h.
Constructor & Destructor Documentation
| btMultiBodyJointMotor::btMultiBodyJointMotor | ( | btMultiBody * | body, |
| int | link, | ||
| btScalar | desiredVelocity, | ||
| btScalar | maxMotorImpulse | ||
| ) |
This file was written by Erwin Coumans.
Definition at line 24 of file btMultiBodyJointMotor.cpp.
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virtual |
Definition at line 38 of file btMultiBodyJointMotor.cpp.
Member Function Documentation
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virtual |
Implements btMultiBodyConstraint.
Definition at line 71 of file btMultiBodyJointMotor.cpp.
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virtual |
Implements btMultiBodyConstraint.
Definition at line 42 of file btMultiBodyJointMotor.cpp.
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virtual |
Implements btMultiBodyConstraint.
Definition at line 55 of file btMultiBodyJointMotor.cpp.
Member Data Documentation
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protected |
Definition at line 29 of file btMultiBodyJointMotor.h.
The documentation for this class was generated from the following files:
